Combined Optimal Control System for excavator electric drive

International Conference on Mechanical Engineering, Automation and Control Systems 2017

机械制造;无线电电子学;计算机科学

Kurochkin, N.S.^1 ; Kochetkov, V.P.^1 ; Platonova, E.V.^1 ; Glushkin, E.Y.^1 ; Dulesov, A.S.^2

Khakass Technical Institute, 27, Shchetinkina Av., Abakan

6605017, Russia^1

Katanov Khakass State University, 92, Lenina Av., Abakan

655017, Russia^2

关键词: Classical systems;    Combined control;    Internal coordinates;    Optimal control algorithm;    Optimality criteria;    Rotation mechanism;    Subordinate regulation;    Transient process;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/327/5/052022/pdf
DOI  :  10.1088/1757-899X/327/5/052022

学科分类：计算机科学（综合）

来源: IOP

【 摘 要 】

The article presents a synthesis of the combined optimal control algorithms of the AC drive rotation mechanism of the excavator. Synthesis of algorithms consists in the regulation of external coordinates-based on the theory of optimal systems and correction of the internal coordinates electric drive using the method technical optimum. The research shows the advantage of optimal combined control systems for the electric rotary drive over classical systems of subordinate regulation. The paper presents a method for selecting the optimality criterion of coefficients to find the intersection of the range of permissible values of the coordinates of the control object. There is possibility of system settings by choosing the optimality criterion coefficients, which allows one to select the required characteristics of the drive: The dynamic moment (M) and the time of the transient process (tpp). Due to the use of combined optimal control systems, it was possible to significantly reduce the maximum value of the dynamic moment (M) and at the same time-reduce the transient time (tpp).